Maybe to make a correction: the math does look good (i.e., properly implemented as in the original paper), however the
values that we obtain for the translation are all off. Looking at our own implementation (and a few other
implementations around the web), we calculate the translation simply by: t = u_y - R * u_x, so without multiplying with
the c Scalar.

Did anyone perform any regression tests on ground truth data to see how it performs (with and without (42) as in the
Umeyama paper)?